Description

Base class for a Chrono run-time visualization system.

#include <ChVisualSystem.h>

Inheritance diagram for chrono::ChVisualSystem:

[legend]

Public Types
enum	Type { Type::IRRLICHT, Type::VSG, Type::OpenGL, Type::OptiX, NONE }
	Supported run-time visualization systems. More...

Public Member Functions
virtual void	AttachSystem (ChSystem *sys)
	Attach a Chrono system to this visualization system.

virtual void	Initialize ()=0
	Initialize the visualization system. More...

virtual void	BindAll ()
	Process all visual assets in the associated Chrono systems. More...

virtual void	BindItem (std::shared_ptr< ChPhysicsItem > item)
	Process the visual assets for the specified physics item. More...

virtual void	UnbindItem (std::shared_ptr< ChPhysicsItem > item)
	Remove the visual assets for the specified physics item from this visualization system.

virtual int	AddCamera (const ChVector3d &pos, ChVector3d targ=VNULL)
	Add a camera to the 3D scene. More...

virtual void	AddGrid (double x_step, double y_step, int nx, int ny, ChCoordsys<> pos=CSYSNORM, ChColor col=ChColor(0.1f, 0.1f, 0.1f))
	Add a grid with specified parameters in the x-y plane of the given frame. More...

virtual void	SetCameraPosition (int id, const ChVector3d &pos)
	Set the location of the specified camera.

virtual void	SetCameraTarget (int id, const ChVector3d &target)
	Set the target (look-at) point of the specified camera.

virtual void	SetCameraPosition (const ChVector3d &pos)
	Set the location of the current (active) camera.

virtual void	SetCameraTarget (const ChVector3d &target)
	Set the target (look-at) point of the current (active) camera.

virtual ChVector3d	GetCameraPosition () const
	Get the location of the current (active) camera.

virtual ChVector3d	GetCameraTarget () const
	Get the target (look-at) point of the current (active) camera.

void	UpdateCamera (int id, const ChVector3d &pos, ChVector3d target)
	Update the location and/or target points of the specified camera.

void	UpdateCamera (const ChVector3d &pos, ChVector3d target)

virtual int	AddVisualModel (std::shared_ptr< ChVisualModel > model, const ChFrame<> &frame)
	Add a visual model not associated with a physical item. More...

virtual int	AddVisualModel (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame)
	Add a visual model not associated with a physical item. More...

virtual void	UpdateVisualModel (int id, const ChFrame<> &frame)
	Update the position of the specified visualization-only model.

virtual bool	Run ()=0
	Run the visualization system. More...

virtual void	Quit ()=0
	Terminate the visualization system.

virtual void	BeginScene ()=0
	Perform any necessary operations at the beginning of each rendering frame.

virtual void	Render ()=0
	Draw all 3D shapes and GUI elements at the current frame. More...

virtual void	RenderFrame (const ChFrame<> &frame, double axis_length=1)
	Render the specified reference frame.

virtual void	RenderCOGFrames (double axis_length=1)
	Render COG frames for all bodies in the system.

virtual void	EndScene ()=0
	Perform any necessary operations ar the end of each rendering frame.

virtual double	GetSimulationRTF () const
	Return the simulation real-time factor (simulation time / simulated time). More...

virtual double	GetSimulationTime () const
	Return the current simulated time. More...

virtual void	WriteImageToFile (const std::string &filename)
	Create a snapshot of the last rendered frame and save it to the provided file. More...

void	SetImageOutputDirectory (const std::string &dir)
	Set output directory for saving frame snapshots (default: ".").

void	SetImageOutput (bool val)
	Enable/disable writing of frame snapshots to file.

virtual void	EnableModalAnalysis (bool val)
	Enable modal analysis visualization. More...

virtual void	SetModalModeNumber (int val)
	Set the mode to be shown (only if some ChModalAssembly is found).

virtual void	SetModalAmplitude (double val)
	Set the amplitude of the shown mode (only if some ChModalAssembly is found).

virtual void	SetModalSpeed (double val)
	Set the speed of the shown mode (only if some ChModalAssembly is found).

virtual void	SetModalModesMax (int maxModes)
	Set the maximum number of modes selectable (only if some ChModalAssembly is found).

std::vector< ChSystem * >	GetSystems () const
	Get the list of associated Chrono systems.

ChSystem &	GetSystem (int i) const
	Get the specified associated Chrono system.

Protected Member Functions
virtual void	OnSetup (ChSystem *sys)
	Perform any necessary setup operations at the beginning of a time step. More...

virtual void	OnUpdate (ChSystem *sys)
	Perform any necessary update operations at the end of a time step. More...

virtual void	OnClear (ChSystem *sys)
	Remove all visualization objects from this visualization system. More...

Protected Attributes
bool	m_initialized

std::vector< ChSystem * >	m_systems
	associated Chrono system(s)

bool	m_write_images
	if true, save snapshots

std::string	m_image_dir
	directory for image files

Friends
class	ChSystem

Member Enumeration Documentation

◆ Type

enum chrono::ChVisualSystem::Type

strong

Supported run-time visualization systems.

Enumerator
IRRLICHT	Irrlicht.
VSG	Vulkan Scene Graph.
OpenGL	OpenGL.
OptiX	OptiX.

Member Function Documentation

◆ AddCamera()

virtual int chrono::ChVisualSystem::AddCamera	(	const ChVector3d &	pos,
		ChVector3d	targ = `VNULL`
	)

inlinevirtual

Add a camera to the 3D scene.

Return an ID which can be used later to modify camera location and/or target points. A concrete visualization system may or may not support multiuple cameras.

Reimplemented in chrono::vsg3d::ChVisualSystemVSG, chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::opengl::ChVisualSystemOpenGL.

◆ AddGrid()

virtual void chrono::ChVisualSystem::AddGrid	(	double	x_step,
		double	y_step,
		int	nx,
		int	ny,
		ChCoordsys<>	pos = `CSYSNORM`,
		ChColor	col = `ChColor(0.1f, 0.1f, 0.1f)`
	)

inlinevirtual

Add a grid with specified parameters in the x-y plane of the given frame.

Parameters

x_step	grid cell size in X direction
y_step	grid cell size in Y direction
nx	number of cells in X direction
ny	number of cells in Y direction
pos	grid reference frame
col	grid line color

Reimplemented in chrono::vsg3d::ChVisualSystemVSG, and chrono::irrlicht::ChVisualSystemIrrlicht.

◆ AddVisualModel() [1/2]

virtual int chrono::ChVisualSystem::AddVisualModel	(	std::shared_ptr< ChVisualModel >	model,
		const ChFrame<> &	frame
	)

inlinevirtual

Add a visual model not associated with a physical item.

Return an ID which can be used later to modify the position of this visual model.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ AddVisualModel() [2/2]

virtual int chrono::ChVisualSystem::AddVisualModel	(	std::shared_ptr< ChVisualShape >	shape,
		const ChFrame<> &	frame
	)

inlinevirtual

Add a visual model not associated with a physical item.

This version constructs a visual model consisting of the single specified shape Return an ID which can be used later to modify the position of this visual model.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, and chrono::vsg3d::ChVisualSystemVSG.

◆ BindAll()

virtual void chrono::ChVisualSystem::BindAll ( )

inlinevirtual

Process all visual assets in the associated Chrono systems.

This function is called by default for a Chrono system attached to this visualization system during initialization, but can also be called later if further modifications to visualization assets occur.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, and chrono::vsg3d::ChVisualSystemVSG.

◆ BindItem()

virtual void chrono::ChVisualSystem::BindItem ( std::shared_ptr< ChPhysicsItem > item )

inlinevirtual

Process the visual assets for the specified physics item.

This function must be called if a new physics item is added to the system or if changes to its visual model occur after the visualization system was attached to the Chrono system.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, and chrono::vsg3d::ChVisualSystemVSG.

◆ EnableModalAnalysis()

virtual void chrono::ChVisualSystem::EnableModalAnalysis ( bool val )

inlinevirtual

Enable modal analysis visualization.

If supported, visualize an oscillatory motion of the n-th mode (if the associated system contains a ChModalAssembly).

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht.

◆ GetSimulationRTF()

double chrono::ChVisualSystem::GetSimulationRTF ( ) const

virtual

Return the simulation real-time factor (simulation time / simulated time).

The default value returned by this base class is the RTF value from the first associated system (if any). See ChSystem::GetRTF

◆ GetSimulationTime()

double chrono::ChVisualSystem::GetSimulationTime ( ) const

virtual

Return the current simulated time.

The default value returned by this base class is the time from the first associated system (if any).

◆ Initialize()

virtual void chrono::ChVisualSystem::Initialize ( )

pure virtual

Initialize the visualization system.

This call must trigger a parsing of the associated Chrono systems to process all visual models. A derived class must ensure that this function is called only once (use the m_initialized flag).

Implemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, chrono::vehicle::ChVehicleVisualSystemIrrlicht, chrono::vsg3d::ChVisualSystemVSG, chrono::vehicle::ChVehicleVisualSystemOpenGL, and chrono::vehicle::ChVehicleVisualSystemVSG.

◆ OnClear()

virtual void chrono::ChVisualSystem::OnClear ( ChSystem * sys )

inlineprotectedvirtual

Remove all visualization objects from this visualization system.

Called by an associated ChSystem.

◆ OnSetup()

virtual void chrono::ChVisualSystem::OnSetup ( ChSystem * sys )

inlineprotectedvirtual

Perform any necessary setup operations at the beginning of a time step.

Called by an associated ChSystem.

Reimplemented in chrono::vsg3d::ChVisualSystemVSG.

◆ OnUpdate()

virtual void chrono::ChVisualSystem::OnUpdate ( ChSystem * sys )

inlineprotectedvirtual

Perform any necessary update operations at the end of a time step.

Called by an associated ChSystem.

◆ Render()

virtual void chrono::ChVisualSystem::Render ( )

pure virtual

Draw all 3D shapes and GUI elements at the current frame.

This function is typically called inside a loop such as

   while(vis->Run()) {
      ...
      vis->Render();
      ...
   }

Implemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, chrono::vsg3d::ChVisualSystemVSG, chrono::vehicle::ChVehicleVisualSystemIrrlicht, and chrono::robosimian::RoboSimianVisualSystemIrrlicht.

◆ Run()

virtual bool chrono::ChVisualSystem::Run ( )

pure virtual

Run the visualization system.

Returns false if the system must shut down.

Implemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, and chrono::vsg3d::ChVisualSystemVSG.

◆ WriteImageToFile()

virtual void chrono::ChVisualSystem::WriteImageToFile ( const std::string & filename )

inlinevirtual

Create a snapshot of the last rendered frame and save it to the provided file.

The file extension determines the image format.

Reimplemented in chrono::irrlicht::ChVisualSystemIrrlicht, chrono::opengl::ChVisualSystemOpenGL, and chrono::vsg3d::ChVisualSystemVSG.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/assets/ChVisualSystem.h
/builds/uwsbel/chrono/src/chrono/assets/ChVisualSystem.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ Type

Member Function Documentation

◆ AddCamera()

◆ AddGrid()

◆ AddVisualModel() [1/2]

◆ AddVisualModel() [2/2]

◆ BindAll()

◆ BindItem()

◆ EnableModalAnalysis()

◆ GetSimulationRTF()

◆ GetSimulationTime()

◆ Initialize()

◆ OnClear()

◆ OnSetup()

◆ OnUpdate()

◆ Render()

◆ Run()

◆ WriteImageToFile()